|Publication number||US7323987 B2|
|Application number||US 11/150,748|
|Publication date||Jan 29, 2008|
|Filing date||Jun 10, 2005|
|Priority date||Jun 28, 2004|
|Also published as||CA2510969A1, CA2510975A1, US20050285738|
|Publication number||11150748, 150748, US 7323987 B2, US 7323987B2, US-B2-7323987, US7323987 B2, US7323987B2|
|Inventors||Antonios Seas, Christopher Field, J. Marcos Sirota|
|Original Assignee||Sigma Space Corporation|
|Export Citation||BiBTeX, EndNote, RefMan|
|Patent Citations (27), Referenced by (4), Classifications (21), Legal Events (7)|
|External Links: USPTO, USPTO Assignment, Espacenet|
This application is based upon and claims benefit of now abandoned co-owned U.S. Provisional Patent Application Ser. No. 60/583,559 entitled “System and Method for Traffic Monitoring, Speed Determination, and Traffic Light Violation Detection and Recording,” filed with the U.S. Patent and Trademark Office on Jun. 28, 2004 by the inventors herein, and is a continuation-in-part of now abandoned co-owned U.S. patent application Ser. No. 11/118,540, entitled “System and Method for Traffic Monitoring, Speed Determination, and Traffic Light Violation Detection and Recording”, filed with the U.S. Patent and Trademark Office on Apr. 29, 2005 by the inventors herein, the specifications of which are included herein by reference.
1. Field of the Invention
This invention relates to a system and method for detecting the presence of an object and more particularly the invention relates to a single lens laser system for monitoring and recording the activity of traffic in a controlled intersection.
A system and method for traffic monitoring, vehicle speed determination and traffic light violation detection and recording is disclosed. In a preferred embodiment of the invention, the system and method are capable of monitoring traffic in an intersection/highway, measure vehicle speed, identify potential traffic violations, and trigger a visual recording device such as a camera or video system. The method and system can also serve as a tool for use by law enforcement agencies and research groups for other applications such as measurement of traffic density, monitoring vehicle speed, and studying traffic patterns. One of the potential applications of the system is to monitor and record red light violations. The disclosed system relies on eye-safe laser radiation and scattering of such radiation off the road surface to determine the presence of a car, estimate its speed, determine when a violation is likely to occur (based on predetermined criteria), and trigger a recording mechanism for collecting evidence of the violation.
The above and other features, aspects, and advantages of the present invention are considered in more detail, in relation to the following description of embodiments thereof shown in the accompanying drawings, in which:
The invention summarized above and defined by the enumerated claims may be better understood by referring to the following description, which should be read in conjunction with the accompanying drawings. This description of an embodiment, set out below to enable one to build and use an implementation of the invention, is not intended to limit the invention, but to serve as a particular example thereof. Those skilled in the art should appreciate that they may readily use the conception and specific embodiments disclosed as a basis for modifying or designing other methods and systems for carrying out the same purposes of the present invention. Those skilled in the art should also realize that such equivalent assemblies do not depart from the spirit and scope of the invention in its broadest form.
The laser with its associated laser controller generates short pulses at high frequency. The duration of the optical pulses and the repetition frequency are a function of the desired accuracy, and can be adjusted according to the needs of the specific application. Short optical pulses in conjunction with high frequency lead to high accuracy in evaluating vehicle/object speed and other information from recorded data. Reducing the frequency or increasing the pulse width decreases system accuracy. Another factor that affects the system accuracy is the separation d between the laser beams, described in more detail below. The beam separation can serve as an accuracy adjustment in order to satisfy requirements for specific applications.
The optical principle that provides the basis for operation of the disclosed system is scattering of optical radiation when it encounters a solid surface. It is always true that a small percentage of incident optical radiation on a surface (interface) will be scattered in many directions in addition to the other optical phenomena, such as reflection and refraction. This is also true for shiny surfaces since a short exposure to open air will contaminate the surface enough to enable light scattering. The disclosed system relies on a small percentage of scattered optical radiation to be detected and to generate an electrical signal through the use of a sensitive optical detector. The generated electrical signal is, in turn, used to trigger electronic processes and logic algorithms that enable the system to detect the presence of an object/vehicle.
The schematic in
The assumption of Lambertian distribution for the scattered radiation further suggests that it is advantageous to position the single lens system in such a way as to minimize the angle of incidence on the scattering/reflective surface. The angle of incidence is defined as the angle between the beam direction and the perpendicular to the scattering surface at the point of contact.
As is the case with many optical systems, it is possible to interchange the position of the lasers and the detectors provided that the mirror (beam splitter) instead of having holes for the beam to go through, it will have one or more areas of high reflectivity for the beams to be reflected.
The overall principle of operation of the single lens sensor system and the various functions that can be performed to estimate the speed of an object/vehicle are outlined below:
Speed estimation can be carried out using a variety of methods. The simplest and most straightforward method is the one previously described where the time between the first interruption of laser beam 1 to the first interruption of laser beam 2 is recorded. Given that the beam separation is fixed and can be measured (or estimated), then the speed of the moving vehicle can be estimated. Due to the fact that one of the two laser beams is inclined, rather than vertical, there is an uncertainty associated with the speed estimate. The source of the uncertainty is the accuracy of measuring the delay for the return pulse, which is typically a few picoseconds. The problem is schematically illustrated in the insert of
Another method for estimating the speed of a moving object/vehicle is by recording the range corresponding to every optical pulse return. By subtracting the recorded range values from the range corresponding to the asphalt surface, the height profile of the vehicle can be generated. In the case of inclined laser beams the height of the vehicle will be estimated from the range difference (a-a′) and the beam angle (θ) through the cosine relationship h=(a-a′)cos(θ). (See insert of
There are few alternate optical designs of the single lens two-laser beam sensor system.
A third laser beam can be used through the same focusing/collecting lens to improve the performance of the sensor. The result of adding a third laser beam is that speed accuracy is improved since the three-laser beam arrangement eliminates some uncertainty from speed estimates. Acceleration/deceleration can be evaluated easier and more accurately as compared to the two-laser beam sensor system. This is possible since the front of a passing vehicle generates two speed estimates that can used to estimate the vehicle's acceleration. The main disadvantages of the three-beam design are the added complexity and cost.
The speed of a moving vehicle can be evaluated in a number of different ways when a three-laser beam sensor system is used. The time delay between a vehicle interrupting laser beam 1 and laser beam 2 is denoted by Δτs1, the time delay between a vehicle interrupting laser beam 2 and laser beam 3 denoted by Δτs2, and the time delay between a vehicle interrupting laser beam 1 and laser beam 3 denoted by Δτs3. The speed of a passing vehicle can be evaluated using one of the following expressions.
The acceleration/deceleration of the passing vehicle can be estimated using the expression:
In many cases, an average of the three possible speeds may be desirable. In such a case, the average speed can be estimated using the expression:
It is also possible to calculate a weighted speed average. In this case, the three speed measurements are assigned a weight proportional to their expected accuracy (It is expected that υac will be more accurate as compare to υab and υbc since it is evaluated using the largest possible beam separation). The weighted speed average can be estimated by the expression:
υ=Aυ ab +Bυ bc +Cυ ac (10)
The above discussion and equations (5) to (10) correspond to the front of the vehicle when it intercepts the laser beams. Another set of equations can be written considering the rear of the vehicle when it clears the laser beams. Combining the speed estimates for the front and the rear of the vehicle a more complete picture of the vehicle's behavior can be established.
Other embodiments of the three-laser beam sensor system are shown in
Similar to the three-laser beam sensor, in a four-laser beam sensor system, the overall accuracy of the system improves while its complexity and cost increases. The principle of operation of the four-laser beam sensor system is shown in
In the case of the four-laser beam sensor system, there are three time delays between beam interruptions that can be used to estimate the speed of a passing vehicle. Time delay 1 is the time between a vehicle interrupting laser beam 1 and laser beam 2 (Δτs1), time delay 2 is the time between a vehicle interrupting laser beam 2 and laser beam 3 (Δτs2), and time delay 3 is the time between a vehicle interrupting laser beam 3 and laser beam 4 (Δτs3). The speed of the passing vehicle can be evaluated using one of the following expressions.
The acceleration/deceleration of the passing vehicle can be estimated using a variety of expressions. Two examples are:
Several different types of average speed can be estimated using groups of the various speed estimates. Some possibilities are the following:
It is also possible to calculate a weighted speed average:
υ=Aυ ab +Bυ bc +Cυ cd +Dυ ac +Eυ bd +Fυ ad (21)
A, B, C, D, E, and F are weighted constants or functions.
Another set of information about the moving vehicle can be generated using information recorded corresponding to the rear of the vehicle. Combining the two sets of data generates a more precise analysis of the vehicle's moving behavior.
Four variations of the optical arrangements of the four-laser beam sensor system are shown in
Similar principles as the ones used to develop the two, three, and four-laser beam sensor systems can be used for a greater number of laser beams. Using more laser beams improves the system's speed accuracy, but the complexity, construction, and assembly cost of the sensor system increases.
One of the main applications for the single lens sensor is red light photo-enforcement. The simplest two-laser beam sensor has one of the laser beams vertical (or perpendicular with respect to the road surface) while the second laser beam is at a slight angle as compared to the other beam (see
The use of the sensor for red light photo-enforcement is schematically predicted in
The process of detecting and recording a traffic violation starts with sensing the status of the traffic light. When the traffic light is red, then the speed of passing vehicles is estimated. If the vehicle's speed is lower than a critical value then it means that the vehicle will be able to stop before the intersection. In this case, no image recording takes place. On the other hand, if the vehicle's speed is above a critical value then the probability of stopping before the intersection is minimum, and the process of recording the violation starts. The violation recording may consist of still images of the vehicle before and during the traffic violation as well as a short video clip documenting the violation.
The compactness of the disclosed system enables multiple single lens systems to be placed in a single housing, in order to service multiple lanes. An example of a two-lane configuration using the single lens system, coupled with a recording mechanism for documenting red light violations is shown in
The exact height for placing the system is subject to local codes and laws. For convenience, during the analysis of the disclosed system, a hanging height between 16-25 feet was assumed. (According to the commercial drivers license study guide no vehicle can exceed a height of 14 feet.) Another important feature of the disclosed arrangement is aesthetic compliance. It is feasible to design a street lighting feature that would be able to house both a light bulb as well as the disclosed system.
Similar to a two-lane configuration the disclosed single lens system can be used in a three-lane intersection. The schematic in
Another possible application for the disclosed single lens system is speed violation detection and speed photo enforcement in urban and rural areas as well as highways. A possible arrangement of the disclosed system in speed photo enforcement configuration is shown in
The invention has been described with references to a preferred embodiment. While specific values, relationships, materials and steps have been set forth for purposes of describing concepts of the invention, it will be appreciated by persons skilled in the art that numerous variations and/or modifications may be made to the invention as shown in the specific embodiments without departing from the spirit or scope of the basic concepts and operating principles of the invention as broadly described. It should be recognized that, in the light of the above teachings, those skilled in the art can modify those specifics without departing from the invention taught herein. Having now fully set forth the preferred embodiments and certain modifications of the concept underlying the present invention, various other embodiments as well as certain variations and modifications of the embodiments herein shown and described will obviously occur to those skilled in the art upon becoming familiar with such underlying concept. It is intended to include all such modifications, alternatives and other embodiments insofar as they come within the scope of the appended claims or equivalents thereof. It should be understood, therefore, that the invention may be practiced otherwise than as specifically set forth herein. Consequently, the present embodiments are to be considered in all respects as illustrative and not restrictive.
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|U.S. Classification||340/557, 340/907|
|International Classification||G01S17/58, G01P3/68, G08G1/054, G08B13/18, G08G1/04, G01S17/08, G01P13/00, G08G1/052, G01S17/10, G01S17/02, G01S7/539|
|Cooperative Classification||G01S17/026, G01S17/58, G08G1/052, G01S17/10|
|European Classification||G01S17/02D, G01S17/10, G08G1/052, G01S17/58|
|Aug 8, 2005||AS||Assignment|
Owner name: SIGMA SPACE CORPORATION, MARYLAND
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